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<title>PID plotter component: /home/vedant/Programming/projects/pid-tuning-gui/esp_codes/components/pid_plotter/include/transport.h File Reference</title>
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   <div id="projectname">PID plotter component
   &#160;<span id="projectnumber">1.0</span>
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   <div id="projectbrief">ESP-IDF component for pid plotter</div>
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<div class="textblock"><code>#include &lt;stdlib.h&gt;</code><br />
<code>#include &quot;<a class="el" href="udp__handler_8h_source.html">udp_handler.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="json__handler_8h_source.html">json_handler.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="tcp__handler_8h_source.html">tcp_handler.h</a>&quot;</code><br />
<code>#include &quot;logger.h&quot;</code><br />
<code>#include &quot;freertos/FreeRTOS.h&quot;</code><br />
<code>#include &quot;freertos/task.h&quot;</code><br />
<code>#include &quot;esp_system.h&quot;</code><br />
<code>#include &quot;freertos/queue.h&quot;</code><br />
<code>#include &quot;freertos/event_groups.h&quot;</code><br />
<code>#include &quot;freertos/semphr.h&quot;</code><br />
<code>#include &quot;esp_err.h&quot;</code><br />
<code>#include &quot;protocol_examples_common.h&quot;</code><br />
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Include dependency graph for transport.h:</div>
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<div class="center"><img src="transport_8h__incl.png" border="0" usemap="#_2home_2vedant_2_programming_2projects_2pid-tuning-gui_2esp__codes_2components_2pid__plotter_2include_2transport_8h" alt=""/></div>
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<p><a href="transport_8h_source.html">Go to the source code of this file.</a></p>
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Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpid__terms.html">pid_terms</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structdata__recv.html">data_recv</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Macros</h2></td></tr>
<tr class="memitem:a81a6fc89c7bc286cb7360b155b1901bf"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="transport_8h.html#a81a6fc89c7bc286cb7360b155b1901bf">MESSAGE_QUEUE_SIZE</a>&#160;&#160;&#160;CONFIG_MESSAGE_QUEUE_SIZE</td></tr>
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Functions</h2></td></tr>
<tr class="memitem:a320afeaba56579760e7e3185a3d1fa02"><td class="memItemLeft" align="right" valign="top">esp_err_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="transport_8h.html#a320afeaba56579760e7e3185a3d1fa02">init_queue</a> (void)</td></tr>
<tr class="memdesc:a320afeaba56579760e7e3185a3d1fa02"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialises message queue.  <a href="#a320afeaba56579760e7e3185a3d1fa02">More...</a><br /></td></tr>
<tr class="separator:a320afeaba56579760e7e3185a3d1fa02"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6afdab1f1ab02c6ed620949a7d32ffa4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="transport_8h.html#a6afdab1f1ab02c6ed620949a7d32ffa4">init_transport</a> (void)</td></tr>
<tr class="memdesc:a6afdab1f1ab02c6ed620949a7d32ffa4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialises transport, i.e. connect to wifi.  <a href="#a6afdab1f1ab02c6ed620949a7d32ffa4">More...</a><br /></td></tr>
<tr class="separator:a6afdab1f1ab02c6ed620949a7d32ffa4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3d23daa4cae5ba60d838c8a2b785462e"><td class="memItemLeft" align="right" valign="top">esp_err_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="transport_8h.html#a3d23daa4cae5ba60d838c8a2b785462e">send_to_queue</a> (struct <a class="el" href="structpid__terms.html">pid_terms</a> pid_data)</td></tr>
<tr class="memdesc:a3d23daa4cae5ba60d838c8a2b785462e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends pid_data struct to message queue.  <a href="#a3d23daa4cae5ba60d838c8a2b785462e">More...</a><br /></td></tr>
<tr class="separator:a3d23daa4cae5ba60d838c8a2b785462e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3f717da7b4c254e710bbfd76625b15e4"><td class="memItemLeft" align="right" valign="top">struct <a class="el" href="structdata__recv.html">data_recv</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="transport_8h.html#a3f717da7b4c254e710bbfd76625b15e4">receive_from_queue</a> (void)</td></tr>
<tr class="memdesc:a3f717da7b4c254e710bbfd76625b15e4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Receive data from queue.  <a href="#a3f717da7b4c254e710bbfd76625b15e4">More...</a><br /></td></tr>
<tr class="separator:a3f717da7b4c254e710bbfd76625b15e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a56e72500cb37fcbc087c3c3125ab7f8e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="transport_8h.html#a56e72500cb37fcbc087c3c3125ab7f8e">pid_transport</a> ()</td></tr>
<tr class="memdesc:a56e72500cb37fcbc087c3c3125ab7f8e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Handles UDP client, which sends <a class="el" href="structpid__terms.html">pid_terms</a> received through message queue.  <a href="#a56e72500cb37fcbc087c3c3125ab7f8e">More...</a><br /></td></tr>
<tr class="separator:a56e72500cb37fcbc087c3c3125ab7f8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acaba133d8c5e0cbadc4cfff68feca9fc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="transport_8h.html#acaba133d8c5e0cbadc4cfff68feca9fc">pid_const_transport</a> ()</td></tr>
<tr class="memdesc:acaba133d8c5e0cbadc4cfff68feca9fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Handles TCP client, which receives pid_constants from server, and parses the data and stores it in a global struct pid_const_data.  <a href="#acaba133d8c5e0cbadc4cfff68feca9fc">More...</a><br /></td></tr>
<tr class="separator:acaba133d8c5e0cbadc4cfff68feca9fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa37b5765ca807a54890c516c916e7e9b"><td class="memItemLeft" align="right" valign="top">struct <a class="el" href="structpid__const.html">pid_const</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="transport_8h.html#aa37b5765ca807a54890c516c916e7e9b">pid_const_read</a> ()</td></tr>
<tr class="memdesc:aa37b5765ca807a54890c516c916e7e9b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns pid_const_data struct. Checks if the resource is blocked by mutex for writing or it is accessible, waits till pid_const_data is accessible and returns it.  <a href="#aa37b5765ca807a54890c516c916e7e9b">More...</a><br /></td></tr>
<tr class="separator:aa37b5765ca807a54890c516c916e7e9b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Variables</h2></td></tr>
<tr class="memitem:afd5531c3e8b14bff72ce2bb5d9e37afb"><td class="memItemLeft" align="right" valign="top">TaskHandle_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="transport_8h.html#afd5531c3e8b14bff72ce2bb5d9e37afb">pid_transport_handle</a></td></tr>
<tr class="separator:afd5531c3e8b14bff72ce2bb5d9e37afb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af69ee3a89d006744edbe8e3039c6210d"><td class="memItemLeft" align="right" valign="top">TaskHandle_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="transport_8h.html#af69ee3a89d006744edbe8e3039c6210d">pid_const_transport_handle</a></td></tr>
<tr class="separator:af69ee3a89d006744edbe8e3039c6210d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3b6a15c259cc8b4aff104b1ace175fc9"><td class="memItemLeft" align="right" valign="top">QueueHandle_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="transport_8h.html#a3b6a15c259cc8b4aff104b1ace175fc9">pid_struct_queue</a></td></tr>
<tr class="separator:a3b6a15c259cc8b4aff104b1ace175fc9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4e23be7e0ba011a32f7896896aaf186e"><td class="memItemLeft" align="right" valign="top">SemaphoreHandle_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="transport_8h.html#a4e23be7e0ba011a32f7896896aaf186e">pid_const_read_write_mutex</a></td></tr>
<tr class="separator:a4e23be7e0ba011a32f7896896aaf186e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a73103b87c83e2ad74f75c8e400f58376"><td class="memItemLeft" align="right" valign="top">struct <a class="el" href="structpid__const.html">pid_const</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="transport_8h.html#a73103b87c83e2ad74f75c8e400f58376">pid_const_data</a></td></tr>
<tr class="separator:a73103b87c83e2ad74f75c8e400f58376"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<h2 class="groupheader">Macro Definition Documentation</h2>
<a id="a81a6fc89c7bc286cb7360b155b1901bf"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a81a6fc89c7bc286cb7360b155b1901bf">&#9670;&nbsp;</a></span>MESSAGE_QUEUE_SIZE</h2>

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<div class="memproto">
      <table class="memname">
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          <td class="memname">#define MESSAGE_QUEUE_SIZE&#160;&#160;&#160;CONFIG_MESSAGE_QUEUE_SIZE</td>
        </tr>
      </table>
</div><div class="memdoc">

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</div>
<h2 class="groupheader">Function Documentation</h2>
<a id="a320afeaba56579760e7e3185a3d1fa02"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a320afeaba56579760e7e3185a3d1fa02">&#9670;&nbsp;</a></span>init_queue()</h2>

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          <td class="memname">esp_err_t init_queue </td>
          <td>(</td>
          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Initialises message queue. </p>
<dl class="section return"><dt>Returns</dt><dd>esp_err_t ESP_OK - if queue init sucessfully, ESP_FAIL - if queue init failed </dd></dl>

</div>
</div>
<a id="a6afdab1f1ab02c6ed620949a7d32ffa4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6afdab1f1ab02c6ed620949a7d32ffa4">&#9670;&nbsp;</a></span>init_transport()</h2>

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          <td class="memname">void init_transport </td>
          <td>(</td>
          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
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<p>Initialises transport, i.e. connect to wifi. </p>

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</div>
<a id="aa37b5765ca807a54890c516c916e7e9b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa37b5765ca807a54890c516c916e7e9b">&#9670;&nbsp;</a></span>pid_const_read()</h2>

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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">struct <a class="el" href="structpid__const.html">pid_const</a> pid_const_read </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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      </table>
</div><div class="memdoc">

<p>Returns pid_const_data struct. Checks if the resource is blocked by mutex for writing or it is accessible, waits till pid_const_data is accessible and returns it. </p>
<dl class="section return"><dt>Returns</dt><dd>struct <a class="el" href="structpid__const.html">pid_const</a> - Returns pid_const_data, can be used to access Kp, Ki, Kd and current values </dd></dl>

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<a id="acaba133d8c5e0cbadc4cfff68feca9fc"></a>
<h2 class="memtitle"><span class="permalink"><a href="#acaba133d8c5e0cbadc4cfff68feca9fc">&#9670;&nbsp;</a></span>pid_const_transport()</h2>

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          <td class="memname">void pid_const_transport </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Handles TCP client, which receives pid_constants from server, and parses the data and stores it in a global struct pid_const_data. </p>

</div>
</div>
<a id="a56e72500cb37fcbc087c3c3125ab7f8e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a56e72500cb37fcbc087c3c3125ab7f8e">&#9670;&nbsp;</a></span>pid_transport()</h2>

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          <td class="memname">void pid_transport </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Handles UDP client, which sends <a class="el" href="structpid__terms.html">pid_terms</a> received through message queue. </p>

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</div>
<a id="a3f717da7b4c254e710bbfd76625b15e4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3f717da7b4c254e710bbfd76625b15e4">&#9670;&nbsp;</a></span>receive_from_queue()</h2>

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          <td class="memname">struct <a class="el" href="structdata__recv.html">data_recv</a> receive_from_queue </td>
          <td>(</td>
          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
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<p>Receive data from queue. </p>
<dl class="section return"><dt>Returns</dt><dd>struct <a class="el" href="structdata__recv.html">data_recv</a> - struct containing <a class="el" href="structpid__terms.html">pid_terms</a> and esp_err_t as members. <a class="el" href="structpid__terms.html">pid_terms</a> contains pid terms </dd></dl>

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<a id="a3d23daa4cae5ba60d838c8a2b785462e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3d23daa4cae5ba60d838c8a2b785462e">&#9670;&nbsp;</a></span>send_to_queue()</h2>

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          <td class="memname">esp_err_t send_to_queue </td>
          <td>(</td>
          <td class="paramtype">struct <a class="el" href="structpid__terms.html">pid_terms</a>&#160;</td>
          <td class="paramname"><em>pid_data</em></td><td>)</td>
          <td></td>
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<p>Sends pid_data struct to message queue. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">pid_data</td><td><a class="el" href="structpid__terms.html">pid_terms</a> struct contains pid values </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>esp_err_t ESP_OK - if queue init sucessfully, ESP_FAIL - if queue init failed </dd></dl>

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</div>
<h2 class="groupheader">Variable Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a73103b87c83e2ad74f75c8e400f58376">&#9670;&nbsp;</a></span>pid_const_data</h2>

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          <td class="memname">struct <a class="el" href="structpid__const.html">pid_const</a> pid_const_data</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a4e23be7e0ba011a32f7896896aaf186e">&#9670;&nbsp;</a></span>pid_const_read_write_mutex</h2>

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          <td class="memname">SemaphoreHandle_t pid_const_read_write_mutex</td>
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<h2 class="memtitle"><span class="permalink"><a href="#af69ee3a89d006744edbe8e3039c6210d">&#9670;&nbsp;</a></span>pid_const_transport_handle</h2>

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          <td class="memname">TaskHandle_t pid_const_transport_handle</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a3b6a15c259cc8b4aff104b1ace175fc9">&#9670;&nbsp;</a></span>pid_struct_queue</h2>

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          <td class="memname">QueueHandle_t pid_struct_queue</td>
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<h2 class="memtitle"><span class="permalink"><a href="#afd5531c3e8b14bff72ce2bb5d9e37afb">&#9670;&nbsp;</a></span>pid_transport_handle</h2>

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          <td class="memname">TaskHandle_t pid_transport_handle</td>
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